Sampling and Reconstruction - Computer Graphicsgraphics.cs.cmu.edu/courses/15-463/2007_fall/Lectures/Sampling... · Slide by Steve Seitz. 22 Gaussian filtering A Gaussian kernel gives

15-463: Computational PhotographyAlexei Efros, CMU, Fall 2007Most slides from Steve Marschner

Sampling and Reconstruction

1D Example: Audio

low highfrequencies

© 2006 Steve Marschner • 4

Sampled representations

• How to store and compute with continuous functions?

• Common scheme for representation: samples– write down the function’s values at many points

[FvD

FHfig

.14.

14b

/ Wol

berg

]


Reconstruction

• Making samples back into a continuous function– for output (need realizable method)– for analysis or processing (need mathematical method)– amounts to “guessing” what the function did in between

[FvD

FHfig

.14.

14b

/ Wol

berg

]


Sampling in digital audio

• Recording: sound to analog to samples to disc

• Playback: disc to samples to analog to sound again– how can we be sure we are filling in the gaps correctly?



• Simple example: a sign wave


Undersampling

• What if we “missed” things between the samples?

• Simple example: undersampling a sine wave– unsurprising result: information is lost


Undersampling


• Simple example: undersampling a sine wave– unsurprising result: information is lost– surprising result: indistinguishable from lower frequency


Undersampling


• Simple example: undersampling a sine wave– unsurprising result: information is lost– surprising result: indistinguishable from lower frequency– also was always indistinguishable from higher frequencies– aliasing: signals “traveling in disguise” as other frequencies

Aliasing in video

Slide by Steve Seitz

Aliasing in images

What’s happening?Input signal:

x = 0:.05:5; imagesc(sin((2.^x).*x))

Plot as image:

Alias!Not enough samples

AntialiasingWhat can we do about aliasing?

Sample more often• Join the Mega-Pixel crazy of the photo industry• But this can’t go on forever

Make the signal less “wiggly”• Get rid of some high frequencies• Will loose information• But it’s better than aliasing


Preventing aliasing

• Introduce lowpass filters:– remove high frequencies leaving only safe, low frequencies– choose lowest frequency in reconstruction (disambiguate)


Linear filtering: a key idea

• Transformations on signals; e.g.:– bass/treble controls on stereo– blurring/sharpening operations in image editing– smoothing/noise reduction in tracking

• Key properties– linearity: filter(f + g) = filter(f) + filter(g)– shift invariance: behavior invariant to shifting the input

• delaying an audio signal• sliding an image around

• Can be modeled mathematically by convolution


Moving Average

• basic idea: define a new function by averaging over a sliding window

• a simple example to start off: smoothing


Weighted Moving Average

• Can add weights to our moving average

• Weights […, 0, 1, 1, 1, 1, 1, 0, …] / 5


Weighted Moving Average

• bell curve (gaussian-like) weights […, 1, 4, 6, 4, 1, …]


Moving Average In 2D

What are the weights H?

00000000000000000900000000000000090909090900000090909009000000909090909000000909090909000000909090909000000000000000000000000



Cross-correlation filtering• Let’s write this down as an equation. Assume the

averaging window is (2k+1)x(2k+1):

• We can generalize this idea by allowing different weights for different neighboring pixels:

• This is called a cross-correlation operation and written:

• H is called the “filter,” “kernel,” or “mask.”


22

Gaussian filteringA Gaussian kernel gives less weight to pixels further from the center of the window

Thi k l i i ti f G i f ti

0000000000

00000009000

0000000000

009090909090000

00909090090000

009090909090000

009090909090000

009090909090000

0000000000

0000000000

121

242

121


23

Mean vs. Gaussian filtering


Convolutioncross-correlation:

A convolution operation is a cross-correlation where the filter is flipped both horizontally and vertically before being applied tothe image:

It is written:

Suppose H is a Gaussian or mean kernel. How does convolution differ from cross-correlation?



Convolution is nice!

• Notation:

• Convolution is a multiplication-like operation– commutative– associative– distributes over addition– scalars factor out– identity: unit impulse e = […, 0, 0, 1, 0, 0, …]

• Conceptually no distinction between filter and signal

• Usefulness of associativity– often apply several filters one after another: (((a * b1) * b2) * b3)– this is equivalent to applying one filter: a * (b1 * b2 * b3)

Tricks with convolutions

=

Image half-sizing

This image is too big tofit on the screen. Howcan we reduce it?

How to generate a half-sized version?

Image sub-sampling

Throw away every other row and column to create a 1/2 size image

- called image sub-sampling

1/4

1/8


Image sub-sampling

1/4 (2x zoom) 1/8 (4x zoom)

Aliasing! What do we do?

1/2


Gaussian (lowpass) pre-filtering

G 1/4

G 1/8

Gaussian 1/2

Solution: filter the image, then subsample• Filter size should double for each ½ size reduction. Why?


Subsampling with Gaussian pre-filtering

G 1/4 G 1/8Gaussian 1/2


Compare with...

1/4 (2x zoom) 1/8 (4x zoom)1/2


Gaussian (lowpass) pre-filtering

G 1/4

G 1/8

Gaussian 1/2

Solution: filter the image, then subsample• Filter size should double for each ½ size reduction. Why?• How can we speed this up? Slide by Steve Seitz

Image Pyramids

Known as a Gaussian Pyramid [Burt and Adelson, 1983]• In computer graphics, a mip map [Williams, 1983]• A precursor to wavelet transform


A bar in the big images is a hair on the zebra’s nose; in smaller images, a stripe; in the smallest, the animal’s nose

Figure from David Forsyth

What are they good for?Improve Search

• Search over translations– Like project 1– Classic coarse-to-fine strategy

• Search over scale– Template matching– E.g. find a face at different scales

Pre-computation• Need to access image at different blur levels• Useful for texture mapping at different resolutions (called

mip-mapping)

Gaussian pyramid construction

filter mask

Repeat• Filter• Subsample

Until minimum resolution reached • can specify desired number of levels (e.g., 3-level pyramid)

The whole pyramid is only 4/3 the size of the original image!Slide by Steve Seitz


Continuous convolution: warm-up

• Can apply sliding-window average to a continuous function just as well– output is continuous– integration replaces summation


Continuous convolution

• Sliding average expressed mathematically:

– note difference in normalization (only for box)

• Convolution just adds weights

– weighting is now by a function– weighted integral is like weighted average– again bounds are set by support of f(x)


One more convolution

• Continuous–discrete convolution

– used for reconstruction and resampling


Reconstruction


Resampling

• Changing the sample rate– in images, this is enlarging and reducing

• Creating more samples:– increasing the sample rate– “upsampling”– “enlarging”

• Ending up with fewer samples:– decreasing the sample rate– “downsampling”– “reducing”


Resampling

• Reconstruction creates a continuous function– forget its origins, go ahead and sample it


Cont.–disc. convolution in 2D

• same convolution—just two variables now

– loop over nearby pixels, average using filter weight

– looks like discrete filter,but offsets are not integersand filter is continuous

– remember placement of filterrelative to grid is variable


A gallery of filters

• Box filter– Simple and cheap

• Tent filter– Linear interpolation

• Gaussian filter– Very smooth antialiasing filter

• B-spline cubic– Very smooth


Box filter


Effects of reconstruction filters

• For some filters, the reconstruction process winds up implementing a simple algorithm

• Box filter (radius 0.5): nearest neighbor sampling– box always catches exactly one input point– it is the input point nearest the output point– so output[i, j] = input[round(x(i)), round(y(j))]

x(i) computes the position of the output coordinate i on the input grid

• Tent filter (radius 1): linear interpolation– tent catches exactly 2 input points– weights are a and (1 – a)– result is straight-line interpolation from one point to the next


Properties of filters

• Degree of continuity

• Impulse response

• Interpolating or no

• Ringing, or overshoot

interpolating filter used for reconstruction


Ringing, overshoot, ripples

• Overshoot– caused by

negative filtervalues

• Ripples– constant in,

non-const. out– ripple free when:


Yucky details

• What about near the edge?– the filter window falls off the edge of the image– need to extrapolate– methods:

• clip filter (black)• wrap around• copy edge• reflect across edge• vary filter near edge


Median filters

• A Median Filter operates over a window by selecting the median intensity in the window.

• What advantage does a median filter have over a mean filter?

• Is a median filter a kind of convolution?



Comparison: salt and pepper noise

3x3

5x5

7x7

Mean Gaussian Median


Documents

Sampling and Reconstruction - Computer Graphicsgraphics.cs.cmu.edu/courses/15-463/2007_fall/Lectures/Sampling... · Slide by Steve Seitz. 22 Gaussian filtering A Gaussian kernel gives